Cppcheck report - [project name]: NaoTHSoccer/Source/Cognition/Modules/VisualCortex/GoalDetector/GoalCrossBarDetector.h

/**
* @file GoalCrossBarDetector.h
*
* @author <a href="mailto:mellmann@informatik.hu-berlin.de">Heinrich Mellmann</a>
* @author <a href="mailto:critter@informatik.hu-berlin.de">CNR</a>
* Definition of class GoalCrossBarDetector
*/

#ifndef GOALCROSSBARDETECTOR_H
#define GOALCROSSBARDETECTOR_H

#include <ModuleFramework/Module.h>

#include <Representations/Infrastructure/FieldInfo.h>
#include <Representations/Infrastructure/CameraInfo.h>
#include <Representations/Infrastructure/Image.h>
#include "Representations/Perception/ArtificialHorizon.h"
#include "Representations/Perception/GoalPercept.h"
#include "Representations/Perception/GoalCrossBarPercept.h"
#include "Representations/Perception/CameraMatrix.h"
#include "Tools/ImageProcessing/GoalBarFeature.h"

// tools
#include "Tools/DoubleCamHelpers.h"
#include <Tools/DataStructures/RingBuffer.h>
#include <Tools/DataStructures/RingBufferWithSum.h>

#include "Tools/naoth_opencv.h"
#include "Tools/ImageProcessing/Edgel.h"
#include "Tools/ImageProcessing/Filter.h"
#include "Tools/ImageProcessing/MaximumScan.h"

#include "Representations/Debug/Stopwatch.h"
#include "Tools/Debug/DebugRequest.h"
#include "Tools/Debug/DebugModify.h"
#include "Tools/Debug/DebugImageDrawings.h"
#include "Tools/Debug/DebugParameterList.h"

BEGIN_DECLARE_MODULE(GoalCrossBarDetector)
  PROVIDE(StopwatchManager)
  PROVIDE(DebugRequest)
  PROVIDE(DebugModify)
  PROVIDE(DebugImageDrawings)
  PROVIDE(DebugImageDrawingsTop)
  PROVIDE(DebugParameterList)

  REQUIRE(FieldInfo)

  REQUIRE(CameraInfo)
  REQUIRE(CameraInfoTop)
  REQUIRE(Image)
  REQUIRE(ImageTop)
  REQUIRE(CameraMatrix)
  REQUIRE(CameraMatrixTop)
  REQUIRE(ArtificialHorizon)
  REQUIRE(ArtificialHorizonTop)

  REQUIRE(GoalPercept)
  REQUIRE(GoalPerceptTop)

  PROVIDE(GoalCrossBarPercept)
  PROVIDE(GoalCrossBarPerceptTop)
END_DECLARE_MODULE(GoalCrossBarDetector)


class GoalCrossBarDetector: private GoalCrossBarDetectorBase
{
public:

  GoalCrossBarDetector();
  virtual ~GoalCrossBarDetector();

  // override the Module execute method
  bool execute(CameraInfo::CameraID id);

  virtual void execute()
  {
    execute(CameraInfo::Top);
    execute(CameraInfo::Bottom);
  }

  Vector2d calculateGradientUV(const Vector2i& point) const;
  Vector2d calculateGradientY(const Vector2i& point) const;

private:
  static const int imageBorderOffset = 5;
  CameraInfo::CameraID cameraID;

  class Parameters: public ParameterList
  {
  public:
    Parameters() : ParameterList("GoalCrossBarParameters")
    {
      //PARAMETER_REGISTER(numberOfScanlines) = 9;
      PARAMETER_REGISTER(scanlinesDistance) = 20;
      PARAMETER_REGISTER(minGoodPoints) = 3;

      PARAMETER_REGISTER(detectWhiteGoals) = true;
      PARAMETER_REGISTER(useColorFeatures) = false;
      PARAMETER_REGISTER(threshold) = 140;
      PARAMETER_REGISTER(thresholdGradient) = 40;
      PARAMETER_REGISTER(maxFeatureWidth) = 213;
      PARAMETER_REGISTER(thresholdFeatureGradient) = 0.5;
      PARAMETER_REGISTER(barWidthSimilarity) = 0.25;
      PARAMETER_REGISTER(thresholdFeatureSimilarity) = 0.8;
      PARAMETER_REGISTER(maxGoalWidthRatio) = 1.5;

      syncWithConfig();
    }

    virtual ~Parameters() {
    }

    //int numberOfScanlines;
    int scanlinesDistance;
    int minGoodPoints;

    bool detectWhiteGoals;
    //bool usePrewitt;
    bool useColorFeatures;
    int threshold;
    int thresholdGradient;
    int maxFeatureWidth;

    double thresholdFeatureGradient;
    double barWidthSimilarity;
    double thresholdFeatureSimilarity;
    double maxGoalWidthRatio;
  };

  Parameters params;

  struct Goal
  {
    Goal() : post0(0), post1(0) {}

    int post0;
    int post1;
  };

  class Cluster 
  {
  private:
    std::vector<cv::Point2f> points;
    std::vector<GoalBarFeature> features;
    double summedWidths;

  public:
    Cluster() : summedWidths(0)
    {}

    Math::Line getLine() const
    {
      ASSERT(points.size() >= 2);

      // estimate the line
      cv::Vec4f line;
      cv::fitLine(cv::Mat(points), line, CV_DIST_L2, 0, 0.01, 0.01);

      Vector2d x(line[2], line[3]);
      Vector2d v(line[0], line[1]);
  
      return Math::Line(x, v);
    }

    void add(const GoalBarFeature& postFeature) {
      features.push_back(postFeature);
      points.push_back(cv::Point2f((float)postFeature.point.x, (float)postFeature.point.y));
      summedWidths += postFeature.width;
    }

    double getFeatureWidth()
<--- Technically the member function 'GoalCrossBarDetector::Cluster::getFeatureWidth' can be const. [+]
The member function 'GoalCrossBarDetector::Cluster::getFeatureWidth' can be made a const function. Making this function 'const' should not cause compiler errors. Even though the function can be made const function technically it may not make sense conceptually. Think about your design and the task of the function first - is it a function that must not change object internal state?
    {
      return summedWidths / static_cast<double>(features.size());
    }

    int size() const {
      return (int)points.size();
    }

    double sim(const GoalBarFeature& postFeature) const {
      double max_sim = 0;
      for(size_t i = 0; i < features.size(); i++) {
        double s = postFeature.sim(features[i]);
        if(s > max_sim) {
          max_sim = s;
        }
      }
      return max_sim;
    }
  };

  std::vector<Cluster> clusters;

  class CrossBar
  {
  public:
    CrossBar(Vector2d& dir, double len)
    :
      length(len),
      direction(dir)
    {}

    double length;
    Vector2d direction;
  };

  class GoalCandidate
  {
  public:

    GoalCandidate(const GoalPercept::GoalPost& postLeft, const GoalPercept::GoalPost& postRight, CrossBar& bar)
    :
      postCount(2),
      goalPostLeft(postLeft),
      goalPostRight(postRight),
      crossBar(bar)
    {}

    GoalCandidate(const GoalPercept::GoalPost& post, CrossBar& bar)
    :
      postCount(1),
      goalPost(post),
      crossBar(bar)
    {}

    int postCount;
    GoalPercept::GoalPost goalPostLeft;
    GoalPercept::GoalPost goalPostRight;
    GoalPercept::GoalPost goalPost;
    CrossBar crossBar;
  };

  std::vector<GoalCandidate> goalCandidates;
  std::vector<std::vector<GoalBarFeature> > features;
  size_t lastCrossBarScanLineId;

  void scanAlongCrossBar(const Vector2i& start, const Vector2i& end, const Vector2d& direction, double barWidth);
  size_t scanDown(size_t id, const Vector2i& downStart, const Vector2i& downEnd, double barWidth);
  size_t scanDownColor(size_t id, const Vector2i& downStart, const Vector2i& downEnd, double barWidth);
  size_t scanDownDiff(size_t id, const Vector2i& downStart, const Vector2i& downEnd, double barWidth);
  bool estimateCrossBarDirection(const GoalPercept::GoalPost& post, Vector2i& start, Vector2d& direction);
  Vector2d getBackProjectedTopPoint(const GoalPercept::GoalPost& post);
  int getBackProjectedTopBarWidth(const GoalPercept::GoalPost& post);
  int getBackProjectedPostHeight(const GoalPercept::GoalPost& post);

  bool checkProjectedPostDistance(const GoalPercept::GoalPost& post0, const GoalPercept::GoalPost& post1);
  void checkSinglePost(const GoalPercept::GoalPost& post);
  void checkBothPosts(const GoalPercept::GoalPost& post0, const GoalPercept::GoalPost& post1);<--- Function 'checkBothPosts' argument 1 names different: declaration 'post0' definition 'postLeft'.<--- Function 'checkBothPosts' argument 2 names different: declaration 'post1' definition 'postRight'.

  void clusterEdgelFeatures();
  void calcuateCrossBars();

  void testBackProjection();

  DOUBLE_CAM_PROVIDE(GoalCrossBarDetector, DebugImageDrawings);

  // double cam stuff
  DOUBLE_CAM_REQUIRE(GoalCrossBarDetector, CameraInfo);
  DOUBLE_CAM_REQUIRE(GoalCrossBarDetector, Image);
  DOUBLE_CAM_REQUIRE(GoalCrossBarDetector, CameraMatrix);
  DOUBLE_CAM_REQUIRE(GoalCrossBarDetector, ArtificialHorizon);
  DOUBLE_CAM_REQUIRE(GoalCrossBarDetector, GoalPercept);

  DOUBLE_CAM_PROVIDE(GoalCrossBarDetector, GoalCrossBarPercept);

};//end class GoalCrossBarDetector

#endif // GOALCROSSBARDETECTOR_H